Haptic Actuators Having Magnetic Elements and At Least One Electromagnet

ABSTRACT

A wearable haptic-enabled user interface device comprising a plurality of magnetic elements and at least one electromagnet that are configured to generate a haptic effect at the user interface device by being disposed to generate at least one of an attractive force and a repelling force on each other when the at least one electromagnet is activated. The wearable haptic-enabled user interface device further comprises a processor configured to activate the at least one electromagnet in response to a determination to output the haptic effect.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of prior U.S. patent application Ser.No. 14/580,177, filed. Dec. 22, 2014, now U.S. Pat. No. 9,589,432, whichis incorporated by reference herein in its entirety for ail purposes.

FIELD OF THE INVENTION

Embodiments hereof relate to a haptic-enabled user interface devicehaving magnetic elements and at least one electromagnet that areconfigured to generate a haptic effect at the user interface device.

BACKGROUND OF THE INVENTION

Video games and video game systems have become even more popular due tothe marketing toward, and resulting participation from, casual gamers.Conventional video game devices or controllers use visual and auditorycues to provide feedback to a user. In some interface devices,kinesthetic feedback (such as active and resistive force feedback)and/or tactile feedback (such as vibration, texture, and heat) is alsoprovided to the user, more generally known collectively as “hapticfeedback” or “haptic effects”. Haptic feedback can provide cues thatenhance and simplify the user interface. Specifically, vibrationeffects, or vibrotactile haptic effects, may be useful in providing cuesto users of electronic devices to alert the user to specific events, orprovide realistic feedback to create greater sensory immersion within asimulated or virtual environment.

Other devices, such as medical devices, automotive controls, remotecontrols, and other similar devices wherein a user interacts with a userinput elements to cause an action also benefit from haptic feedback orhaptic effects. For example, and not by way of limitation, user inputelements on medical devices may be operated by a user outside the bodyof a patient at a proximal portion of a medical device to cause anaction within the patient's body at a distal end of the medical device.Haptic feedback or haptic effects may be employed devices to alert theuser to specific events, or provide realistic feedback to user regardinginteraction of the medical device with the patient at the distal end ofthe medical device.

Conventional haptic feedback systems for gaming and other devicesgenerally include one or more actuators attached to the housing of thecontroller for generating the haptic feedback. However, theseconventional haptic feedback systems create a haptic sensation along theentire body of the controller. Such a device does not provide a targetedor directed haptic sensation to the user for specific actions orlocations. Embodiments hereof relate to a haptic feedback system thatprovides a haptic effect to the user input element that are discernibleor distinguishable from general haptic effects produced along the entirebody of the device/controller.

BRIEF SUMMARY OF THE INVENTION

Embodiments hereof are directed to a haptic-enabled user interfacecontroller comprising a body, and a plurality of magnetic elements andat least one electromagnet that are coupled to the body and areconfigured to generate a haptic effect by being disposed to generate atleast one of an attractive force and a repelling force on each otherwhen the at least one electromagnet is activated. The controller furthercomprises a processor configured to activate the at least oneelectromagnet in response to a determination to output the hapticeffect.

In an embodiment, when the at least one electromagnet is activated, theplurality of magnetic elements and the at least one electromagnet areconfigured to exert a force on each other that impedes motion of aportion of the controller.

Embodiments hereof relate to a wearable haptic-enabled user interfacedevice comprising a plurality of magnetic elements and at least oneelectromagnet that are configured to generate a haptic effect at theuser interface device by being disposed to generate at least one of anattractive force and a repelling force on each other when the at leastone electromagnet is activated. The device further comprises a processorthat is configured to activate the at least one electromagnet inresponse to a determination to output the haptic effect.

In an embodiment, the device is a glove.

In an embodiment, the plurality of magnetic elements are coupled to afirst surface, and the at least one electromagnet is coupled to a secondsurface, and the first surface is spaced from the second surface.

In an embodiment, the first surface and the second surface are opposingsurfaces.

In an embodiment, at least one magnetic element of the plurality ofmagnetic elements and the at least one electromagnet are disposed toface each other.

In an embodiment, the first surface is a deformable surface of the userinterface device, and the plurality of magnetic elements are configuredto deform the deformable surface when the at least one electromagnet isactivated.

In an embodiment, the deformable surface is an outer surface of the userinterface device.

In an embodiment, the plurality of magnetic elements and the at leastone electromagnet are configured to output the haptic effect based on asimulated texture.

In an embodiment, the haptic effect that is output by the plurality ofmagnetic elements and the at least one electromagnet includes avibration.

In an embodiment, the haptic effect that is output by the plurality ofmagnetic elements and the at least one electromagnet includes a detent.

In an embodiment, the plurality of magnetic elements and the at leastone electromagnet are configured to output the haptic effect based on asimulated click of a button or trigger.

In an embodiment, when the at least one electromagnet is activated, theplurality of magnetic elements and the at least one electromagnet areconfigured to exert a force on each other that impedes motion of aportion of the user interface device.

In an embodiment, the plurality of magnetic elements have the samestrength and polarity.

In an embodiment, at least two magnetic elements of the plurality ofmagnetic elements have different polarities or different magneticstrengths.

In an embodiment, the haptic effect is based on an event in a virtualenvironment.

In an embodiment, the interface device further comprises a positionsensor. The processor is configured to detect a movement event based ondata from the position sensor, and is configured to cause the hapticeffect based on the movement event.

Embodiments hereof is directed to a deformable surface of an object, thedeformable surface comprising a plurality of magnetic elements fordeforming the surface. The plurality of magnetic elements are configuredto experience a repelling force or an attractive force from at least oneelectromagnet. The plurality of magnetic elements are configured tochange a shape of the deformable surface when the at least oneelectromagnet is activated to exert the attractive force or therepelling force on the plurality of magnetic elements.

In an embodiment, the at least one electromagnet with which theplurality of magnetic elements are configured to interact is disposed ona surface that is spaced from the deformable surface.

In an embodiment, the deformable surface is part of a wearable device.

In an embodiment, the surface comprises a first layer, and the pluralityof magnetic elements are coupled to the first layer of the deformablesurface.

Embodiments hereof are directed to a haptic peripheral including ahousing, a user input element, and a magnetic actuator located withinthe housing and coupled to the user input element. The magnetic actuatorincludes a first programmable magnet attached to the user input elementand a second programmable magnet disposed within the housing. The firstand second programmable magnets each have a pre-programmed pattern ofmagnetic elements and the pre-programmed patterns of magnetic elementsinteract with each other to output haptic effects to the user inputelement. The pre-programmed pattern of magnetic elements of the secondprogrammable magnet is movable relative to the pre-programmed pattern ofmagnetic elements of the first programmable magnet such that when thesecond programmable magnet is in a first configuration, a first hapticeffect is output to the user input element and when the secondprogrammable magnet is in a second configuration, a second haptic effectis output to the user input element, the first and second haptic effectsbeing different from each other.

In an embodiment hereof, a motor is coupled to the second programmablemagnet. The motor is configured to receive a haptic effect drive signalfrom a processor and is configured to re-position the pre-programmedpattern of magnetic elements of the second programmable magnet relativeto the pre-programmed pattern of magnetic elements of the firstprogrammable magnet in response to the haptic effect drive signal fromthe processor.

Embodiments hereof are also directed to a gaming system including a hostcomputer, a processor, and a controller. The controller includes ahousing, a user input element, and a magnetic actuator located withinthe housing and coupled to the user input element. The magnetic actuatorincludes a first programmable magnet attached to the user input elementand a second programmable magnet disposed within the housing. The firstand second programmable magnets each have a pre-programmed pattern ofmagnetic elements that interact to output haptic effects to the userinput element. The pre-programmed pattern of magnetic elements of thesecond programmable magnet is movable relative to the pre-programmedpattern of magnetic elements of the first programmable magnet such thatwhen the second programmable magnet is in a first configuration, a firsthaptic effect is output to the user input element and when the secondprogrammable magnet is in a second configuration, a second haptic effectis output to the user input element, the first and second haptic effectsbeing different from each other.

BRIEF DESCRIPTION OF DRAWINGS

The foregoing and other features and advantages of the invention will beapparent from the following description of embodiments hereof asillustrated in the accompanying drawings. The accompanying drawings,which are incorporated herein and form a part of the specification,further serve to explain the principles of the invention and to enable aperson skilled in the pertinent art to make and use the invention. Thedrawings are not to scale.

FIG. 1A is a perspective view of an embodiment of a controller.

FIG. 1B is another perspective view of the controller of FIG. 1A.

FIG. 2 is a block diagram of the controller of FIGS. 1A and 1B inconjunction with a host computer and display.

FIG. 3 is a perspective view of an embodiment of a gaming tablet.

FIG. 4 is a side view of a portion of the controller of FIGS. 1A and 1B,wherein a housing of the controller is removed to illustrate theinternal components thereof, in particular to illustrate a magneticactuator for a button of the controller.

FIG. 5A is a perspective view of a conventional magnet.

FIG. 5B is a perspective view of a programmable magnet.

FIG. 6 is a top view of a first programmable magnet of the magneticactuator for the button of the controller of FIG. 4.

FIG. 7 is a top view of a second programmable magnet of the magneticactuator for the button of the controller of FIG. 4, wherein the secondprogrammable magnet is in a first orientation or configuration.

FIG. 8 is a top view of a second programmable magnet of the magneticactuator for the button of the controller of FIG. 4, wherein the secondprogrammable magnet is in a second orientation or configuration.

FIG. 9 is a side view of a portion of the controller of FIGS. 1A and 1B,wherein a downward force is applied to the button of the controller.

FIG. 10A is a top view of a second programmable magnet of a magneticactuator according to another embodiment hereof, wherein the secondprogrammable magnet includes an array of magnets.

FIG. 10B is a cross-sectional view of a second programmable magnet of amagnetic actuator according to another embodiment hereof, wherein thesecond programmable magnet includes concentric rings that may beindependently rotated relative to each other.

FIG. 11 is a side view of a magnetic actuator to be utilized foractuating the trigger of the controller of FIGS. 1A and 1B according toanother embodiment hereof.

FIG. 12 is a side view of the magnetic actuator of FIG. 11 utilized withthe trigger of the controller of FIGS. 1A and 1B, wherein the trigger isshown in its nominal configuration with no force applied thereto.

FIG. 13 is a side view of the magnetic actuator of FIG. 11 utilized withthe trigger of the controller of FIGS. 1A and 1B, wherein a downwardforce is applied to the trigger.

FIG. 14 is a side view of a magnetic actuator utilized for actuating ajoystick of the controller of FIGS. 1A and 1B according to anotherembodiment hereof, wherein the joystick is shown in its nominalconfiguration with no force applied thereto.

FIG. 15 is a perspective view illustration of a wearable deviceincluding at least one first programmable magnet coupled theretoaccording to another embodiment hereof, the wearable device beingconfigured to interact with a surface component having a plurality ofsecond programmable magnets attached thereto.

FIG. 16 is a perspective view illustration of a deformable surfaceincluding a plurality of first programmable magnets coupled theretoaccording to another embodiment hereof, the deformable surface beingconfigured to interact with a surface component having a plurality ofsecond programmable magnets coupled thereto.

DETAILED DESCRIPTION OF THE INVENTION

Specific embodiments of the present invention are now described withreference to the figures, wherein like reference numbers indicateidentical or functionally similar elements. The following detaileddescription is merely exemplary in nature and is not intended to limitthe invention or the application and uses of the invention. Furthermore,there is no intention to be bound by any expressed or implied theorypresented in the preceding technical field, background, brief summary orthe following detailed description. Furthermore, although the followingdescription is directed to gaming devices and controllers for gamingdevices, those skilled in the art would recognize that the descriptionapplies equally to other devices having user input elements.

Embodiments hereof relate to a haptic peripheral including a magneticactuator coupled to a user input element for providing haptic effectsdirectly to the user input element. The haptic peripheral may be, forexample, a handheld gaming controller 100 for a gaming system as shownin FIGS. 1A-1B, a gaming tablet controller 300 as shown in FIG. 3, orother controllers that having user input (UI) elements such as, but notlimited to, phones, personal digital assistants (PDA), tablets,computers, gaming peripherals, and other controllers for gaming systemsknown to those skilled in the art. Magnetic actuators according toembodiments hereof include at least two opposing programmable magnetswith pre-programmed patterns to control the motion of the user inputelement. More particularly, magnetic actuators according to embodimentshereof include at least a first programmable magnet and a second ormoving programmable magnet. Each programmable magnet has apre-programmed pattern of magnetic elements affixed to a substrate. Thepre-programmed patterns of magnetic elements of each programmable magnetinteract with each other to cause haptic effects. In order to vary tohaptic effects output by the magnetic actuator, the second or movingprogrammable magnet is spun, rotated, or otherwise moved to change theorientation of the pre-programmed pattern. The re-oriented pattern ofthe second programmable magnet changes the interaction between the firstand second programmable magnets and thereby results in different hapticeffects being output to the user input device. In an embodiment, a motormoves the second programmable magnet to vary the haptic effects.

More particularly, turning to FIGS. 1A-1B, controller 100 may begenerally used with a gaming system that may be connected to a computer,mobile phone, television, or other similar device. FIGS. 1A-1Billustrate different perspective views of controller 100, while FIG. 2illustrates a block diagram of controller 100 used in a gaming system101 that further includes a host computer 104 and a display 106. Asshown in the block diagram of FIG. 2, controller 100 includes a localprocessor 108 which communicates with host computer 104 via a connection105. Connection 105 may be a wired connection, a wireless connection, orother types of connections known to those skilled in the art. Controller100 may be alternatively configured to not include local processor 108,whereby all input/output signals from controller 100 are handled andprocessed directly by host computer 104. Host computer 104 is coupled todisplay screen 106. In an embodiment, host computer 104 is a gamingdevice console and display screen 106 is a monitor which is coupled tothe gaming device console, as known in the art. In another embodiment,as known to those skilled in the art, host computer 104 and displayscreen 106 may be combined into a single device.

A housing 102 of controller 100 is shaped to easily accommodate twohands gripping the device, either by a left-handed user or aright-handed user. Those skilled in the art would recognize thatcontroller 100 is merely an exemplary embodiment of a controller ofsimilar shape and size to many “gamepads” currently available for videogame console systems, and that controllers with other configurations ofuser input elements, shapes, and sizes may be used, including but notlimited to controllers such as a Wii™ remote or Wii™ U Controller, Sony®SixAxis™ controller or Sony® Wand controller, as well as controllersshaped as real life objects (such as tennis rackets, golf clubs,baseball bats, and the like) and other shapes.

Controller 100 includes several user input elements or manipulandums,including a joystick 110, a button 114, and a trigger 118. As usedherein, user input element refers to an interface device such as atrigger, button, joystick, or the like, which is manipulated by the userto interact with host computer 104. As can be seen in FIGS. 1A-1B andknown to those skilled in the art, more than one of each user inputelement and additional user input elements may be included on controller100. Accordingly, the present description of a button 114, for example,does not limit controller 100 to a single button. Further, the blockdiagram of FIG. 2 shows only one (1) of each of joystick 110, button114, and trigger 118. However, those skilled in the art would understandthat multiple joysticks, buttons, and triggers, as well as other userinput elements, may be used as described above.

As can be seen in the block diagram of FIG. 2, controller 100 includes amagnetic actuator for providing haptic effect directly to user inputelements thereof as well as one or more general or rumble actuators 122,124 coupled to housing 102 in a location where a hand of the user isgenerally located. More particularly, joystick 110 includes a magneticactuator 112 coupled thereto, button 114 includes a magnetic actuator116 coupled thereto, and trigger 118 includes a magnetic actuator 120coupled thereto. In addition to a plurality of magnetic actuators,controller 100 includes a position sensor coupled to each of the userinput elements thereof. More particularly, joystick 110 includes aposition sensor 111 coupled thereto, button 114 includes a positionsensor 115 coupled thereto, and trigger 118 includes a position sensor119 coupled thereto. Local processor 108 is coupled to magneticactuators 112, 116, 120 as well as position sensors 111, 115, 119 ofjoystick 110, button 114, and trigger 118, respectively. Positionsensors 111, 115, 119 are configured to detect a position of joystick110, button 114, and trigger 118, respectively, and are configured tosend the position to local processor 108. As will be described in moredetail herein, in response to signals received from position sensors111, 115, 119, local processor 108 instructs magnetic actuators 112,116, 120 to provide haptic effects directly to joystick 110, button 114,and trigger 118, respectively. Such targeted haptic effects arediscernible or distinguishable from general or rumble haptic effectsproduced by general actuators 122, 124 along the entire body of thecontroller. The collective haptic effects provide the user with agreater sense of immersion to the game as multiple modalities are beingsimultaneously engaged, e.g., video, audio, and haptics.

As noted above, position sensors 111, 115, 119 are configured to detecta position of joystick 110, button 114, and trigger 118, respectively.For example, position sensor 119 is configured to detect a change in therotational position of trigger 118, position sensor 115 of button 114 isconfigured to detect linear motion or translation of button 114, i.e.,when button 114 is pressed down, and position sensor 111 of joystick 110is configured to detect motion of joystick 110 within one or moredegrees of freedom, i.e., when joystick 110 is physically moved forward,backwards, left or right. In an embodiment, position sensors 111, 115,119 are potentiometers but may be other types of position sensors knownin the art such as but not limited to optical sensors, optical encoders,hall-effect sensors, capacitive sensors, strain gages, gyroscopes,accelerometers, audio receivers, and the like.

It will be appreciated that modifications and variations of controller100 are covered by the above teachings and within the purview of theappended claims without departing from the spirit and intended scope ofthe invention. For example, FIGS. 1A-1B illustrate a haptic peripheralwhich is a handheld gaming controller of similar shape and size to many“gamepads” currently available for video game console systems. However,those skilled in the art would recognize that the controller is merelyan exemplary embodiment of a haptic peripheral and that hapticperipherals with other configurations, shapes, and sizes may be used.For example, FIG. 3 illustrates another embodiment hereof in which thehaptic peripheral is a gaming tablet controller 300 that may be usedwith a tablet computer 304. Tablet computer 304 may be designedspecifically for gaming activities, such as is available from RazerInc., or may be a tablet computer well known and available in themarket, such as an Apple® Ipad®, Kindle® Fire®, and Samsung® GalaxyTab®.

Gaming tablet controller 300 includes a docking portion 305 configuredto receive tablet computer 304 and handles 326, 328 with user inputelements disposed thereon for a user to control a game on tabletcomputer 304. Docking portion 305 connects gaming tablet controller 300to tablet computer 304 such that actions by the user on handles 326, 328such as pressing buttons, moving joysticks, pressing triggers, etc.,result in actions on the game being played on tablet computer 304.

Handles 326, 328 include typical user input elements found oncontrollers. The user input elements will be described with respect tohandle 328. However, those skilled in the art would recognize that thesame or similar user input elements may be used on handle 326. Inparticular, handle 328 includes a joystick 310, a button 314, and atrigger 318. As can be seen in FIG. 3 and known to those skilled in theart, more than one of each of these user input elements may be includedon each handle 326, 328. Further, handle 328 includes a general orrumble actuator 324 attached thereto in a location where a hand of theuser is generally located for providing general or rumble haptic effectsto gaming tablet controller 300 as described above with respect togeneral or rumble actuators 122, 124.

Turning now to FIG. 4, which is a schematic illustration of a portion ofcontroller 100 with housing 102 removed to illustrate the internalcomponents thereof, magnetic actuator 116 for button 114 will bedescribed in more detail. Although not shown, it will be understood bythose of ordinary skill in the art that magnetic actuator 116 ispositioned or housed within housing 102. Magnetic actuator 116 includesat least a first programmable magnet 432 secured to an underside surfaceof button 114 and a second or moving programmable magnet 438 positionedwithin housing 102. First and second programmable magnets 432, 438 areeach programmable magnets including a pre-programmed pattern magneticelements of various strength and polarity on a single substrate. As willbe explained in more detail herein, the pre-programmed patterns of themagnetic elements of each programmable magnet interact with each otherto cause haptic effects. More particularly, a conventional magnet 531 isshown in FIG. 5A while an exemplary programmable magnet 532 is shown inFIG. 5B. Conventional magnet 531 is a single or individual magneticelement having a singular polarity and strength, while programmablemagnet 532 includes a plurality of magnetic elements 536 of variousstrength and polarity. When a pair of programmable magnets oppose orface each other such that the magnetic elements thereon oppose or faceeach other, the corresponding opposing magnetic elements formpre-programmed correlated patterns designed to achieve a desiredbehavior. The programmable behavior is achieved by creating multipolestructures comprising multiple magnetic elements of varying size,location, orientation, and saturation. The exemplary embodiment of FIG.5B illustrates a programmable magnet having a pre-programmed pattern 534with sixty-six magnetic elements 536 on a single or individual surfaceor substrate, although the particular number of magnetic elements isexemplary and for use of illustration only and may be varied accordingto application. Each magnetic element 536 has the same strength andpolarity in FIG. 5B, but the magnetic strength and polarity of anymagnetic element 536 can each be varied to achieve a desired behavior.Thus, programmable magnets are programmable in the sense that themagnetic strength and polarity of any magnetic element 536 is designedor selected in order to achieve a desired behavior. However, theprogrammable aspect or nature of the magnet is complete after theprogrammable magnet is formed with a plurality of magnetic elements 536of various strength and polarity, and thus the programmable magnets maybe considered to be “one-time” programmable magnets. Programmablemagnets are commercially available from Correlated Magnetics ResearchLLC of Huntsville, Ala.

As shown in FIG. 6, which is a top view of first programmable magnet 432of magnetic actuator 116, first programmable magnet 432 includes apre-programmed pattern 434 of magnetic elements 436 of various strengthand polarity on a single substrate 437. Similarly, as shown in FIG. 7which is a top view of second programmable magnet 438 of magneticactuator 116, second programmable magnet 438 includes a pre-programmedpattern 442 of magnetic elements 444 of various strength and polarity ona single substrate 445. With additional reference to FIG. 4, viainteraction between pre-programmed patterns 434, 442 of first and secondprogrammable magnets 432, 438, respectively, the first and secondprogrammable magnets are programmed to attract and repel each other atthe same time with a programmed force or strength. By programmingdifferent magnetic elements to have different strengths and direction ofpoles at different parts of the magnet, first programmable magnet 432and button 114 secured thereto are “suspended” magnetically above secondprogrammable magnet 438 such that the programmable magnet 432 and button114 secured thereto floats above second programmable magnet 438 with aprogrammed spring force or damping. More particularly, firstprogrammable magnet 432 and button 114 secured thereto floats or hoversa controlled or programmed spaced-apart distance from secondprogrammable magnet 438 in a nominal configuration. The nominalconfiguration of first and second programmable magnets 432, 438 is shownin FIG. 4, with first programmable magnet 432 and button 114 securedthereto being suspended a controlled or programmed distance DN fromsecond programmable magnet 438. As used herein, controlled or programmedspaced-apart distance means that first programmable magnet 432 islocated or disposed relative to second programmable magnet 438 such thata space or gap exists between the programmable magnets which do notcontact or touch each other, and the measurement size of the distance isa programmable feature or characteristic of the programmable magnets. Inaddition, as used herein, nominal configuration is the relativepositions or relationship between first and second programmable magnets432, 438 when no force is applied to either component. Stated anotherway, the nominal configuration may be considered an equilibrium orzero-force state of first and second programmable magnets 432, 438.

When a downward force as indicated by directional arrow 946 is appliedto button 114, i.e., a user presses down on button 114 as shown in FIG.9, first programmable magnet 432 and button 114 secured thereto arepermitted to move relative to second programmable magnet 438 such thatthe distance between first programmable magnet 432 and secondprogrammable magnet 438 is reduced or decreased to a shortened distanceDS. Shortened distance DS is less than the controlled or programmeddistance DN shown in the nominal configuration of FIG. 4. When no forceis applied to button 114, i.e., a user releases button 114, firstprogrammable magnet 432 and button 114 secured thereto return to thenominal configuration shown in FIG. 4 due to the controlled orprogrammed spring force of magnetic actuator 116.

Thus, in the nominal configuration of first and second programmablemagnets 432, 438, the first and second programmable magnets areprogrammed with a controlled or programmed force or strength and acontrolled or programmed spring force. Stated another way, in thenominal configuration of first and second programmable magnets 432, 438,the haptic effects output by magnetic actuator 116 include a programmedresistive force on button 114 as well as a programmed spring force ofbutton 114. In order to vary or change the haptic effects output bymagnetic actuator 116, second programmable magnet 438 is spun, rotated,or otherwise moved to change the orientation of pre-programmed pattern442. The re-oriented pattern of second programmable magnet 438 changesthe interaction between first and second programmable magnets 432, 438and thereby results in different haptic effects being output to the userinput device. More particularly, FIG. 7 illustrates a top view of secondprogrammable magnet 438 in the first or nominal configuration 443A whileFIG. 8 illustrates a top view of second programmable magnet 438 in asecond or re-oriented configuration 443B. In the embodiment of FIGS.7-8, only one re-oriented configuration is shown and second programmablemagnet is spun or rotated approximately 180 degrees in order toalternate second programmable magnet 438 between the nominal andre-oriented configurations. However, it will be understood by those ofordinary skill in the art that the second programmable magnet may havemultiple re-oriented configurations and may be rotated any predeterminedamount of degrees. For example, in another embodiment (not shown),second programmable magnet 438 has three re-oriented configurations andis rotated approximately 90 degrees to change into an adjacentre-oriented configuration.

In the embodiment of FIGS. 7-8, a motor 440 moves second programmablemagnet 438 between nominal and re-oriented configurations 443A, 443B.More particularly, motor 440 is configured to receive a haptic effectdrive signal from processor 108 and is configured to re-position thepre-programmed pattern 442 of second programmable magnet 438 relative topre-programmed pattern 434 of first programmable magnet 432 in responseto the haptic effect drive signal from the processor. Motor 440 is abidirectional motor that may spin second programmable magnet 438 inopposing directions, i.e., clockwise or counter clockwise. In anembodiment, motor 440 is a DC permanent magnet motor but may be othertypes of brushless DC motors, stepper motors, or solenoids known andavailable in the art.

When second programmable magnet 438 is moved between nominal andre-oriented configurations 443A, 443B, the haptic effects output bymagnetic actuator 116 are varied or changed because the interactionbetween first and second programmable magnets changes and results in adifferent programmed resistive force on button 114 as well as adifferent programmed spring force of button 114. Stated another way,pre-programmed pattern 442 of second programmable magnet 438 is movablerelative to pre-programmed pattern 434 of first programmable magnet 432such that when second programmable magnet 438 is in a first or nominalconfiguration 443A, a first haptic effect is output to button 114 andwhen second programmable magnet 438 is in a second or re-orientedconfiguration 443B, a second haptic effect is output to button 114, thefirst and second haptic effects being different from each other. Forexample, when second programmable magnet 438 is in re-orientedconfiguration 443B, the first and second programmable magnets areprogrammed with a controlled or programmed force or strength and acontrolled or programmed spring force that are different from thestrength and spring force of first and second programmable magnets 432,438 when in nominal configuration 443A. The applied resistive forceagainst button 114 may be increased or decreased, as well as the springforce of button 114. In an embodiment hereof, magnetic actuator 116 mayoutput a maximum resistive force which impedes all user motion in alock-out mode of button 114.

Further, in addition to a resistive force and spring force variations, awide variety of haptic effects or sensations may be output to button 114since second programmable magnet 438 is movable relative to firstprogrammable magnet 432. More particularly, magnetic actuator 116 mayoutput a detent on button 114 by outputting a resistive force on button114 which is removed at one or more particular button positions orlocations. As such, the detent felt by the user resembles a buttonclick. In another embodiment, magnetic actuator 116 may output texturefeedback by outputting a variable or changing frequency drive ontobutton 114 at one or more particular button positions or locations. Moreparticularly, texture feedback is determined or generated by varying thefrequency, shape, and size of the programmed magnetic configurations.For gradual force changes, a pattern may be lines of magnetic strengththat vary from stronger to weaker on both programmable magnets. Forexample, pressing button 114 may slide one programmable magnet acrossthe other, causing the stronger magnetic fields to come into contact atcertain points of maximum force. In yet another embodiment hereof,magnetic actuator 116 may output a vibration on button 114 by rapidlyspinning second programmable magnet 438 back and forth or by rapidlychanging rotation directions using a motor (angular motion) or asolenoid (linear motion). More particularly, the frequency ofvibrational feedback is determined or generated by the size, frequencyof programmed magnetic areas, and speed of the motor. For example, acircular disk with 3 large programmable areas that spins at 60 RPM wouldhave a lower operating frequency than a disk with more programmableareas and/or a faster motor.

In an embodiment hereof, movement of second programmable magnet 438 isinitiated via detection of a movement event by position sensor 115. Moreparticularly, in operation, local processor 108 (not shown in FIG. 4)detects or receives button positions and/or movement events fromposition sensor 115 and sends the button positions and/or movementevents to host computer 104. As an example, a user may depress or pressdown on button 114 in order to fire a weapon in a shooting game exampleor to accelerate a car in a racing video game example. One of ordinaryskill in the art would understand that movement events of button 114 arenot limited to the examples stated above. Based on the movement event,local processor 108 then provides associated haptic effect drive signalsto magnetic actuator 116 (via motor 440) based on high level supervisoryor streaming commands from host computer 104. For example, when inoperation, voltage magnitudes and durations are streamed from hostcomputer 104 to controller 100 where information is provided to motor440 via local processor 108. Host computer 104 may provide high levelcommands to local processor 108 such as the type of haptic effect to beoutput (e.g. vibration, jolt, detent, pop, etc.) by magnetic actuator116, whereby the local processor 108 instructs magnetic actuator 116(via motor 440) as to particular characteristics of the haptic effectwhich is to be output (e.g. magnitude, frequency, duration, etc.). Localprocessor 108 may retrieve the type, magnitude, frequency, duration, orother characteristics of the haptic effect from a memory 109 coupledthereto (shown in the block diagram of FIG. 2). Motor 440 receives thehaptic effect drive signal from local processor 108, and then motor 440moves second programmable magnet 438 to a particular orientation inorder to output a particular haptic effect to button 114 in response tothe haptic effect drive signal from local processor 108. In anembodiment, the functionality of the above-described operation isimplemented by software stored in the memory of host computer 104 andexecuted by processor of host computer 104, and/or memory 109 ofcontroller 100 and executed by local processor 108 of controller 100. Inother embodiments, the functionality may be performed by hardwarethrough the use of an application specific integrated circuit (“ASIC”),a programmable gate array (“PGA”), a field programmable gate array(“FPGA”), or any combination of hardware and software.

Different button positions and movement events may result in differenthaptic effects being applied by magnetic actuator 116. For example, afirst position of button 114 results in magnetic actuator 116 generatingand applying a first haptic effect drive signal to button 114, while asecond position of button 114 results in magnetic actuator 116generating and applying a second haptic effect drive signal to button114. Stated another way, pressing button 114 may result in a change ofthe orientation of second programmable magnet 438. More particularly,depending on game actions and the position of button 114 as indicated byposition sensor 115, local processor 108 may send a haptic effect drivesignal to motor 440 to move second programmable magnet 438 to aparticular orientation in order to output one of a wide variety ofhaptic effects or sensations, including vibrations, detents, textures,jolts or pops. Further, the strength or level of the haptic effect orsensation may vary depending on the position of button 114 as indicatedby position sensor 115.

In another embodiment, detection of a movement event is not required forproducing a haptic effect drive signal from the host computer system andmovement of second programmable magnet 438 is initiated based onprogramming of the host computer system. Stated another way, the hostcomputer system may generate and transmit a haptic effect drive signalto controller 100 without detection of a movement event. For example,the host computer system may generate and transmit a haptic effect drivesignal to controller 100 based on events relating to the computercontrolled character or object (i.e., the character's hand is bumped orhit by something in the video game and a haptic effect is output to theuser input element to signify this event).

As described herein, second programmable magnet 438 is rotated or spunin order to re-orient the pre-programmed pattern of magnetic elementsthereof in order to minimize the overall physical size thereof. However,the size of the second programmable magnet may be increased such thatadditional magnetic elements are included thereon and the secondprogrammable magnet may be moved in order to selectively positionparticular magnetic elements thereof in opposition with a firstprogrammable magnet, such as first programmable magnet 432. For example,in another embodiment shown in FIG. 10A, a second programmable magnet1038A includes an array of pre-programmed patterns 1042A, 1042B, 1042C,1042D on a substrate 1045. Second programmable magnet 1038A may be spunor rotated in order to position a particular pre-programmed pattern inopposition with a first programmable magnet, such as first programmablemagnet 432 (not shown in FIG. 10A), in order to output varying hapticeffects. In another embodiment, substrate 1045 may remain stationary andeach pre-programmed pattern 1042A, 1042B, 1042C, 1042D may be located ona moving plate in order to output varying haptic effects. Further,additional array configurations may be utilized. For example, ratherthan having an array of pre-programmed patterns as shown in FIG. 10, themagnetic elements may form a continuous ring. Another example isdepicted in FIG. 10B. More particularly, a second programmable magnet1038B includes two concentric annular substrates 1080, 1082 that aredisposed around a center first programmable magnet 1032. Each annularsubstrate 1080, 1082 includes a pre-programmed pattern 1042E, 1042F ofmagnetic elements that may be spun or rotated in order to re-orient thepre-programmed pattern thereof relative to first programmable magnet1032 in order to output varying haptic effects. Stated another way,first programmable magnet 1032 remains stationary while annularsubstrates 1080, 1082 are independently or selectively rotated or spunaround in order to output varying haptic effects.

Turning now to FIG. 11, magnetic actuator 120 for trigger 118 for usewithin controller 100 will be described. Each magnetic actuator 120includes a first programmable magnet 1132 (which when assembled isattached to trigger 118 as will be described in more detail with respectto FIGS. 12-13) and a second programmable magnet 1138 (which whenassembled is a moving part housed within controller 100 and coupled to amotor as will be described in more detail with respect to FIGS. 12-13).First and second programmable magnets 1132, 1138 are each programmablemagnets including multiple magnetic elements of various strength andpolarity on a single substrate. First programmable magnet 1132 has atriangular cross-section defining a base side or surface 1154, as wellas two opposing angular surfaces 1152, 1156. As trigger 118 is operated,first programmable magnet 1132 rotates or pivots around a pivot point1150, which is formed between opposing angular surfaces 1152, 1156thereof, as indicated by directional arrow 1158 shown on FIG. 11.

When magnetic actuator 120 is utilized within controller 100, firstprogrammable magnet 1132 is attached to trigger 118 as shown FIGS. 12-13and second programmable magnet 1138 is housed or positioned withincontroller 100 and coupled to a motor 1140. FIGS. 12-13 are schematicillustrations of a portion of controller 100 with housing 102 removed (aportion of housing 102 is shown in phantom) to illustrate the structuralrelationship between trigger 100 and magnetic actuator 120. FIG. 12illustrates a nominal configuration of magnetic actuator 120 and trigger118 in which no force is applied to trigger 118. Trigger 118 protrudesor extends away from housing 102, and base surface 1154 of firstprogrammable magnet 1132 faces or opposes second programmable magnet1138. Base surface 1154 of first programmable magnet 1132 and secondprogrammable magnet 1138 are programmed to attract and repel each otherwith a prescribed force at the same time such that trigger 100 may bemagnetically “suspended” in the nominal configuration with trigger 100protruding or extending away from housing 102 with a programmed springforce or damping. As such, magnetic actuator 120 in accordance withembodiments hereof are configured to or programmed such that firstprogrammable magnet 1132 (and trigger 118 attached thereto) protrudes orextends away a controlled or programmed spaced-apart distance fromsecond programmable magnet 1138.

When a downward force is applied to trigger 118 as indicated bydirectional arrow 1346 on FIG. 13, trigger 118 and first programmablemagnet 1132 attached thereto rotate or pivot around pivot point 1150until angular surface 1152 of first programmable magnet 1132 faces or isadjacent to second programmable magnet 1138 as shown in FIG. 13. Thedownward force applied to trigger 118 is user-applied (e.g., trigger 118is manually rotated with respect to housing 102 and the trigger isoperated by the user during video game operation to input user action).Angular surface 1152 and/or angular surface 1156 of first programmablemagnet 1132 are programmed to attract second programmable magnet 1138.When the downward force represented by directional arrow 1346 is removedfrom trigger 118, the attraction force between angular surface 1152and/or angular surface 1156 of first programmable magnet 1132 and secondprogrammable magnet 1138 causes first programmable magnet 1132 (andtrigger 118 attached thereto) to move towards second programmable magnet1138, thereby causing first programmable magnet 1132 (and trigger 118attached thereto) to return to their nominal configuration shown in FIG.12. The attraction force between angular surface 1152 and/or angularsurface 1156 of first programmable magnet 1132 and second programmablemagnet 1138 thus essentially is a controlled or programmed spring forcesuch that trigger 118 returns to the nominal configuration when no forceis applied thereto.

Thus, in the nominal configuration of first and second programmablemagnets 1132, 1138, the first and second programmable magnets areprogrammed with a controlled or programmed force or strength and acontrolled or programmed spring force. Stated another way, in thenominal configuration of first and second programmable magnets 1132,1138, the haptic effects output by magnetic actuator 120 include aprogrammed resistive force on trigger 118 as well as a programmed springforce of trigger 118. In order to vary or change the haptic effectsoutput by magnetic actuator 120, second programmable magnet 1138 isspun, rotated, or otherwise moved by motor 1140 to change theorientation of the pre-programmed pattern thereof. The re-orientedpattern of second programmable magnet 1138 changes the interactionbetween first and second programmable magnets 1132, 1138 and therebyresults in different haptic effects being output to the user inputdevice as described above with respect to first and second programmablemagnets 432, 438, respectively. Motor 1140 is a bidirectional motorsimilar to motor 440 described above.

When second programmable magnet 1138 is moved between the nominal andre-oriented configurations, the haptic effects output by magneticactuator 120 are varied or changed because the interaction between firstand second programmable magnets changes and results in a differentprogrammed resistive force on trigger 118 as well as a differentprogrammed spring force of trigger. Stated another way, thepre-programmed pattern of second programmable magnet 1138 is movablerelative to the pre-programmed pattern of first programmable magnet 1132such that when second programmable magnet 1138 is in a first or nominalconfiguration, a first haptic effect is output to trigger 118 and whensecond programmable magnet 1138 is in a second or re-orientedconfiguration, a second haptic effect is output to trigger 118, thefirst and second haptic effects being different from each other. Forexample, when second programmable magnet 1138 is in a re-orientedconfiguration, the first and second programmable magnets are programmedwith a controlled or programmed force or strength and a controlled orprogrammed spring force that are different from the strength and springforce of first and second programmable magnets 1132, 1138 when in thenominal configuration. The applied resistive force against trigger 118may be increased or decreased, as well as the spring force of trigger118. In an embodiment hereof, magnetic actuator 120 may output a maximumresistive force which impedes all user motion in a lock-out mode oftrigger 118.

Further, in addition to a resistive force and spring force variations, awide variety of haptic effects or sensations may be output to trigger118 since second programmable magnet 1138 is movable relative to firstprogrammable magnet 1132. More particularly, magnetic actuator 120 mayoutput a detent on trigger 118 by outputting a resistive force ontrigger 118 which is removed at one or more particular trigger positionsor locations. As such, the detent felt by the user resembles a triggerclick. In another embodiment, magnetic actuator 120 may output texturefeedback by outputting a variable or changing resistive force on trigger118 at one or more particular button positions or locations. In yetanother embodiment hereof, magnetic actuator 120 may output a vibrationon trigger 118 by rapidly spinning second programmable magnet 1138 backand forth.

In an embodiment hereof, movement of second programmable magnet 1138 isinitiated via detection of a movement event by position sensor 119, asdescribed above with movement of second programmable magnet 438 andposition sensor 115. In another embodiment hereof, detection of amovement event is not required for producing a haptic effect drivesignal from the host computer system and movement of second programmablemagnet 1138 is initiated based on programming of the host computersystem.

As described herein, first and second programmable magnets 1132, 1138are configured to provide both a programmed spring force as well asoutput varied haptic effects when second programmable magnet 1138 isspun, rotated, or otherwise moved by motor 1140 to change theorientation of the pre-programmed pattern thereof. Depending upon thepre-programmed pattern thereof, the programmed spring force may remainthe same as second programmable magnet 1138 is spun, rotated, orotherwise moved by motor 1140 (and thus the spring force is not avariable haptic effect) or the programmed spring force may vary assecond programmable magnet 1138 is spun, rotated, or otherwise moved bymotor 1140 (and thus the spring force is a variable haptic effect).However, in another embodiment hereof (not shown), two pairs or sets ofprogrammable magnets may be provided that are independently configuredto provide these functions. More particularly, a first pair or set ofprogrammable magnets may be configured to provide a non-varyingprogrammed spring force or suspension of trigger 118 as described inU.S. patent application Ser. No. 14/580,161 (Docket No. IMM544), filedthe same day as the present application, assigned to the same assigneeas the present application and having common inventors with the presentapplication. A second pair or set of programmable magnets may beconfigured to provide or output varied haptic effects when one of theprogrammable magnets is spun, rotated, or otherwise moved to change theorientation of the pre-programmed pattern thereof. In another embodimenthereof (not shown), only one first programmable magnet may be providedon the trigger while two second programmable magnets, one of which isconfigured to be moved and the other of which is stationary ornon-moving, are provided within the housing. The first programmablemagnet on the trigger is configured to interact with the stationarysecond programmable magnet to provide a non-varying programmed springforce or suspension of the trigger, while the first programmable magneton the trigger is configured to interact with the moving secondprogrammable magnet to provide or output varied haptic effects when themoving second programmable magnet is spun, rotated, or otherwise movedto change the orientation of the pre-programmed pattern thereof.

Further, as described herein, first programmable magnet 1132 has atriangular cross-section and first programmable magnet 1132 rotates orpivots around a pivot point during operation of trigger 118. However,alternative configurations may be utilized. For example, in anotherembodiment hereof (not shown), first programmable magnet 1132 may be anarmature that holds a pre-programmed disc-shaped magnet configured tospin on the X, Y, and/or Z axis.

Turning now to FIG. 14, magnetic actuator 112 for joystick 110 for usewithin controller 100 will be described. Joystick 110 includes a base1462 and a handle 1460 extending from base 1462. Base 1462 has aspherical configuration and is configured to rotate within a sphericalcasing 1466 that is housed within controller 100. FIG. 14 is a schematicillustration of a portion of controller 100 with housing 102 removed (aportion of housing 102 is shown in phantom) to illustrate the structuralrelationship between joystick 110 and magnetic actuator 112. Casing 1466is coupled to a motor 1440 and is configured to be spun, rotated,revolved, or otherwise moved around base 1462 of joystick 110. Eachmagnetic actuator 112 includes a first programmable magnet 1432 attachedto an outer surface of base 1462 of joystick 110 and a secondprogrammable magnet 1438 attached to an inner surface of casing 1466 andthereby coupled to motor 1440. First and second programmable magnets1432, 1438 are each programmable magnets including multiple magneticelements of various strength and polarity on a single substrate.

FIG. 14 illustrates a nominal configuration of magnetic actuator 112 andjoystick 110 in which no force is applied to joystick 110. Firstprogrammable magnet 1432 and second programmable magnet 1438 areprogrammed to attract and repel each other with a prescribed force atthe same time such that joystick 110 may be magnetically “suspended” inthe nominal configuration with joystick 110 protruding or extendingperpendicularly away from housing 102 with a programmed spring force ordamping. A user-applied force moves joystick 110 within one or moredegrees of freedom, i.e., joystick 110 is physically moved forward,backwards, left or right. When the user-applied force is removed fromjoystick 110, the controlled or programmed spring force of magneticactuator 112 causes first programmable magnet 1432 (and joystick 110attached thereto) to return to their nominal configuration shown in FIG.14.

Thus, in the nominal configuration of first and second programmablemagnets 1432, 1438, the first and second programmable magnets areprogrammed with a controlled or programmed force or strength and acontrolled or programmed spring force. Stated another way, in thenominal configuration of first and second programmable magnets 1432,1438, the haptic effects output by magnetic actuator 112 include aprogrammed resistive force on joystick 110 as well as a programmedspring force of joystick 110. In order to vary or change the hapticeffects output by magnetic actuator 112, casing 1466 and secondprogrammable magnet 1438 attached thereto are spun, rotated, orotherwise moved by motor 1440 to change the position of pre-programmedpattern thereof. The re-positioned pattern of second programmable magnet1438 changes the interaction between first and second programmablemagnets 1432, 1438 and thereby results in different haptic effects beingoutput to the user input device as described above with respect to firstand second programmable magnets 432, 438, respectively. Motor 1440 is abidirectional motor similar to motor 440 described above.

When second programmable magnet 1438 is moved between the nominal andre-positioned configurations, the haptic effects output by magneticactuator 112 are varied or changed because the interaction between firstand second programmable magnets changes and results in a differentprogrammed resistive force on joystick 110 as well as a differentprogrammed spring force on joystick 110. Stated another way, thepre-programmed pattern of second programmable magnet 1438 is movablerelative to the pre-programmed pattern of first programmable magnet 1432such that when second programmable magnet 1438 is in a first or nominalconfiguration, a first haptic effect is output to joystick 110 and whensecond programmable magnet 1438 is in a second or re-orientedconfiguration, a second haptic effect is output to joystick 110, thefirst and second haptic effects being different from each other. Forexample, when second programmable magnet 1438 is in a re-positionedconfiguration, the first and second programmable magnets are programmedwith a controlled or programmed force or strength and a controlled orprogrammed spring force that are different from the strength and springforce of first and second programmable magnets 1432, 1438 when in thenominal configuration. The applied resistive force against joystick 110may be increased or decreased, as well as the spring force of joystick110. In an embodiment hereof, magnetic actuator 112 may output a maximumresistive force which impedes all user motion in a lock-out mode ofjoystick 110.

Further, in addition to a resistive force and spring force variations, awide variety of haptic effects or sensations may be output to joystick110 since second programmable magnet 1438 is movable relative to firstprogrammable magnet 1432. More particularly, magnetic actuator 112 mayoutput a detent on joystick 110 by outputting a resistive force onjoystick 110 which is removed at one or more particular joystickpositions or locations. As such, the detent felt by the user resembles aclick. In another embodiment, magnetic actuator 112 may output texturefeedback by outputting a variable or changing resistive force onjoystick 110 at one or more particular button positions or locations. Inyet another embodiment hereof, magnetic actuator 112 may output avibration on joystick 110 by rapidly spinning casing 1466 and secondprogrammable magnet 1438 attached thereto back and forth.

In an embodiment hereof, movement of casing 1466 and second programmablemagnet 1438 attached thereto is initiated via detection of a movementevent by position sensor 111, as described above with movement of secondprogrammable magnet 438 and position sensor 115. In another embodimenthereof, detection of a movement event is not required for producing ahaptic effect drive signal from the host computer system and movement ofsecond programmable magnet 1438 is initiated based on programming of thehost computer system.

Magnetic actuators such as those described above for use with user inputelements of a controller may be applied to other haptic applications.For example, FIG. 15 illustrates a wearable device 1570 including atleast one first programmable magnet 1532 coupled thereto, the wearabledevice being configured to interact with surfaces or peripherals havingat least one second programmable magnet attached thereto. Moreparticularly, wearable haptic device 1570 includes at least a firstprogrammable magnet 1532 and surface component 1572 includes a pluralityof second programmable magnets 15381, 15382 and opposing pairs of theprogrammable magnets form or create an individual or discrete magneticactuator 15741, 15742, respectively, with programmed or programmedcharacteristics. Programmable magnets 1532, 15381, 15382 are eachprogrammable magnets including multiple magnetic elements of variousstrength and polarity on a single substrate.

More particularly, each magnetic actuator includes first and secondprogrammable magnets that are programmed to attract and repel with aprescribed force at the same time such that wearable haptic device 1570may be “suspended” magnetically above surface component 1572 such thatthe wearable haptic device floats above the surface component with aprogrammed spring force or damping. As such, magnetic actuators inaccordance with embodiments hereof are configured or formed to such thatwearable haptic device 1570 floats or hovers a controlled or programmedspaced-apart distance from surface component 1572 in a nominalconfiguration shown in FIG. 15, while also being configured to allowmovement between surface component 1572 and wearable haptic device 1570with a controlled or programmed spring force such that surface component1572 and wearable haptic device 1570 return to the nominal configurationwhen no force is applied to the wearable haptic device.

As wearable haptic device 1570 is moved or translated over surfacecomponent 1572, a magnetic actuator is formed between first programmablemagnet 1532 (attached to the wearable haptic device) and whicheversecond programmable magnet opposes or faces first programmable magnet1532. Each magnetic actuator 15741, 15742 is configured to haveprogrammed strength and spring force characteristics. For example, in anembodiment, when first programmable magnet 1532 is positioned to opposeor face second programmable magnet 15381, magnetic actuator 15741 may beprogrammed to suspend wearable haptic device 1570 a first controlled orprogrammed spaced-apart distance from surface component 1572 and may beprogrammed to allow movement between wearable haptic device 1570 andsurface component 1572 with a first controlled or programmed springforce. When first programmable magnet 1532 is positioned to oppose orface second programmable magnet 15382, magnetic actuator 15742 may beprogrammed to suspend wearable haptic device 1570 a second controlled orprogrammed spaced-apart distance from surface component 1572 and may beprogrammed to allow movement between wearable haptic device 1570 andsurface component 1572 with a second controlled or programmed springforce. The first and second controlled or programmed spaced-apartdistances may be different values or may be the same, depending uponapplication, and the first and second controlled or programmed springforce may be different values or may be the same, depending uponapplication. For example, wearable haptic device 1570 and firstprogrammable magnet 1532 thereon may be pushed away or repelled secondprogrammable magnet 15381 and may be pulled towards or attached tosecond programmable magnet 15382. Although only two individual ordiscrete magnetic actuators 15741, 15742 are described herein, it willbe understood by one of ordinary skill in the art that any number ofmagnetic actuators may be formed and the magnetic actuators may beconfigured or programmed with the same characteristics or with differentcharacteristics as described above. In the embodiment of FIG. 15,surface component 1572 is described as a stationary component over whichwearable haptic device 1570 may be moved or translated. However, inanother embodiment, surface component 1572 may be re-oriented orre-positioned with a motor (not shown) in order to produce varyinghaptic effects.

Further, although wearable haptic device 1570 is shown with only onefirst programmable magnet, it will be understood by one of ordinaryskill in the art that the haptic device may include a surface having aplurality of first programmable magnets thereon for interacting invarious combinations with the plurality of second programmable magnetson surface component 1572. For example, FIG. 16 illustrates anembodiment in which a deformable surface 1676 includes a plurality offirst programmable magnets 16321, 16322 coupled thereto, the deformablesurface being configured to interact with a surface component 1672having a plurality of second programmable magnets 16381, 16382 coupledthereto. Deformable surface 1676 is configured to deform or change shapedue to the interaction between the respective programmable magnetscoupled to deformable surface 1676 and surface component 1672. Moreparticularly, deformable surface 1676 includes a plurality of firstprogrammable magnets 16321, 16322 and surface component 1672 includes aplurality of second programmable magnets 16381, 16382 and opposing pairsof the programmable magnets form or create an individual or discretemagnetic actuator 16741, 16742, respectively, with programmed orprogrammed characteristics. Programmable magnets 16321, 16322, 16381,16382 are each programmable magnets including multiple magnetic elementsof various strength and polarity on a single substrate. Each magneticactuator includes first and second programmable magnets that areprogrammed to attract and repel with a prescribed force at the same timesuch that deformable surface 1676 may be “suspended” magnetically abovesurface component 1672. The shape of configuration of deformable surface1676 depends upon the controlled or programmed spaced-apart distancebetween the first and second programmable magnet for each magneticactuator.

For example, in an embodiment, first programmable magnet 16321 ispositioned to oppose or face second programmable magnet 16381, andmagnetic actuator 16741 formed there-between may be programmed tosuspend deformable surface 1676 a first controlled or programmedspaced-apart distance from surface component 1672. First programmablemagnet 16322 is positioned to oppose or face second programmable magnet16382, and magnetic actuator 16742 formed there-between may beprogrammed to suspend deformable surface 1676 a second controlled orprogrammed spaced-apart distance from surface component 1672. The firstand second controlled or programmed spaced-apart distances may bedifferent values or may be the same, depending upon application.Although only two individual or discrete magnetic actuators 16741, 16742are described herein, it will be understood by one of ordinary skill inthe art that any number of magnetic actuators may be formed and themagnetic actuators may be configured or programmed with the samecharacteristics or with different characteristics as described above. Inthe embodiment of FIG. 16, surface component 1672 is described as astationary component that dictates the shape or configuration ofdeformable surface 1676. However, in another embodiment, surfacecomponent 1672 may be re-oriented or re-positioned with a motor (notshown) in order to vary the shape or configuration of deformable surface1676.

In another embodiment hereof, rather than utilizing a pair of opposingprogrammable magnets, magnetic actuators according to embodiment hereofmay utilize a first programmable magnet with an electromagnet in orderto output varying haptic effects. Similar to the way in which a secondprogrammable magnet is moved in order to vary haptic effects, anelectromagnet may be selectively turned on and off in order to varyhaptic effects.

While various embodiments according to the present invention have beendescribed above, it should be understood that they have been presentedby way of illustration and example only, and not limitation. It will beapparent to persons skilled in the relevant art that various changes inform and detail can be made therein without departing from the spiritand scope of the invention. For example, magnetic actuators according toembodiment hereof are not limited to the user input elementsspecifically described, i.e., buttons, triggers, and joysticks, but mayalso be applied to other user input elements including wheel-typeelements. In addition, although controller 100 is shown and describedherein with magnetic actuators for all three types of user inputelements, i.e., buttons, triggers, and joysticks, a magnetic actuatoraccording to an embodiment hereof may be used in a controller for one ormore user input elements while other haptic actuators known in the artmay be utilized to provide haptic effects to other user input elementsof the controller. Thus, the breadth and scope of the present inventionshould not be limited by any of the above-described exemplaryembodiments, but should be defined only in accordance with the appendedclaims and their equivalents. It will also be understood that eachfeature of each embodiment discussed herein, and of each reference citedherein, can be used in combination with the features of any otherembodiment. All patents and publications discussed herein areincorporated by reference herein in their entirety.

What is claimed is:
 1. A haptic-enabled user interface controllercomprising: a body; a plurality of magnetic elements and at least oneelectromagnet that are coupled to the body and are configured togenerate a haptic effect by being disposed to generate at least one ofan attractive force and a repelling force on each other when the atleast one electromagnet is activated; and a processor configured toactivate the at least one electromagnet in response to a determinationto output the haptic effect.
 2. The haptic-enabled user interfacecontroller of claim 1, wherein the plurality of magnetic elements arecoupled to a first surface of the controller, and the at least oneelectromagnet is coupled to a second surface of the controller, whereinthe first surface is spaced from the second surface.
 3. Thehaptic-enabled user interface controller of claim 2, wherein theplurality of magnetic elements and the at least one electromagnet aredisposed to face each other.
 4. The haptic-enabled user interfacecontroller of claim 1, wherein the plurality of magnetic elements andthe at least one electromagnet are configured to output the hapticeffect based on a simulated texture.
 5. The haptic-enabled userinterface controller of claim 1, wherein the haptic effect that isoutput by the plurality of magnetic elements and the at least oneelectromagnet includes a vibration.
 6. The haptic-enabled user interfacecontroller of claim 1, wherein, when the at least one electromagnet isactivated, the plurality of magnetic elements and the at least oneelectromagnet are configured to exert a force on each other that impedesmotion of a portion of the controller.
 7. A wearable haptic-enabled userinterface device, comprising: a plurality of magnetic elements and atleast one electromagnet that are configured to generate a haptic effectat the user interface device by being disposed to generate at least oneof an attractive force and a repelling force on each other when the atleast one electromagnet is activated; and a processor configured toactivate the at least one electromagnet in response to a determinationto output the haptic effect.
 8. The wearable haptic-enabled userinterface device of claim 7, wherein the device is a glove.
 9. Thewearable haptic-enabled user interface device of claim 7, wherein theplurality of magnetic elements are coupled to a first surface, and theat least one electromagnet is coupled to a second surface, wherein thefirst surface is spaced from the second surface.
 10. The wearablehaptic-enabled user interface device of claim 9, wherein the firstsurface and the second surface are opposing surfaces.
 11. The wearablehaptic-enabled user interface device of claim 10, wherein at least onemagnetic element of the plurality of magnetic elements and the at leastone electromagnet are disposed to face each other.
 12. The wearablehaptic-enabled user interface device of claim 9, wherein the firstsurface is a deformable surface of the user interface device, andwherein the plurality of magnetic elements are configured to deform thedeformable surface when the at least one electromagnet is activated. 13.The wearable haptic-enabled user interface device of claim 12, whereinthe deformable surface is an outer surface of the user interface device.14. The wearable haptic-enabled user interface device of claim 7,wherein the plurality of magnetic elements and the at least oneelectromagnet are configured to output the haptic effect based on asimulated texture.
 15. The wearable haptic-enabled user interface deviceof claim 7, wherein the haptic effect that is output by the plurality ofmagnetic elements and the at least one electromagnet includes avibration.
 16. The wearable haptic-enabled user interface device ofclaim 7, wherein the haptic effect that is output by the plurality ofmagnetic elements and the at least one electromagnet includes a detent.17. The wearable haptic-enabled user interface device of claim 7,wherein the plurality of magnetic elements and the at least oneelectromagnet are configured to output the haptic effect based on asimulated click of a button or trigger.
 18. The wearable haptic-enableduser interface device of claim 7, wherein, when the at least oneelectromagnet is activated, the plurality of magnetic elements and theat least one electromagnet are configured to exert a force on each otherthat impedes motion of a portion of the user interface device.
 19. Thewearable haptic-enabled user interface device of claim 7, wherein theplurality of magnetic elements have the same strength and polarity. 20.The wearable haptic-enabled user interface device of claim 7, wherein atleast two magnetic elements of the plurality of magnetic elements havedifferent polarities or different magnetic strengths.
 21. The wearablehaptic-enabled user interface device of claim 7, wherein the hapticeffect is based on an event in a virtual environment.
 22. The wearablehaptic-enabled user interface device of claim 7, further comprising: aposition sensor, wherein the processor is configured to detect amovement event based on data from the position sensor, and wherein theprocessor is configured to cause the haptic effect based on the movementevent.
 23. A deformable surface of an object, the deformable surfacecomprising: a plurality of magnetic elements for causing deformation ofthe deformable surface, wherein the plurality of magnetic elements areconfigured to experience a repelling force or an attractive force fromat least one electromagnet, and wherein the plurality of magneticelements are configured to change a shape of the deformable surface whenthe at least one electromagnet is activated to exert the attractiveforce or the repelling force on the plurality of magnetic elements. 24.The deformable surface of claim 23, wherein the at least oneelectromagnet is disposed on a surface that is spaced from thedeformable surface.
 25. The deformable surface of claim 23, wherein thedeformable surface is part of a wearable device.
 26. The deformablesurface of claim 23, wherein the deformable surface comprises a firstlayer, and the plurality of magnetic elements are coupled to the firstlayer of the deformable surface.